Backlash Compensation; Objects Requiring Settings - Omron OMNUC G5 Series User Manual

7-4 Backlash Compensation

7-4 Backlash Compensation

The function compensates for backlash for position control and fully-closed control.

Objects Requiring Settings

Index
3704 hex
3705 hex
3706 hex
Backlash Compensation Selection (3704 Hex)
This object is used to select whether to enable or disable backlash compensation during
7
position control, and to set the compensation direction.
Set value
Setting Method
The backlash compensation works in different directions depending on the setting in the
Backlash Compensation Selection (3704 hex) and on whether the set value for the Backlash
Compensation Amount (3705 hex) is positive or negative.
3704 hex
7-11
Name
Backlash Select whether to enable or disable backlash
Compensation compensation during position control.
Selection Set the compensation direction.
Backlash
Set the compensation amount during position control.
Compensation Amount
Backlash
Set the backlash compensation time constant during
Compensation Time
position control.
Constant
0 Disable backlash compensation.
1 Compensate for backlash at the first forward operation after the servo is turned ON.
2 Compensate for backlash at the first reverse operation after the servo is turned ON.
3705 hex contains a positive value
Compensate in positive direction when
1
operation is in forward.
Compensate positive direction when it is in
2
reverse operation.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Description
Description
3705 hex contains a negative value
Compensate in negative direction when
operation is in forward.
Compensate in negative directions when
operation is in reverse.
Reference page
page 9-46
page 9-46
page 9-46